implement shooter pid

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheel.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index a20af8e63badd3bfee9722e5037c9771b60a8a52..c5101fc7d0dea5e23353b3a6c6b890ad35247450 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -23,6 +23,7 @@ public class RunFlyWheel extends Command {
   private double wheelI;
   private double wheelD;
   private double target;
+  private double shooterSpeed = 0;
 
   public RunFlyWheel(double maxTimeOut) {
 
@@ -34,7 +35,7 @@ public class RunFlyWheel extends Command {
     this.wheelController.setDoneRange(0.5);
     this.wheelController.setMaxOutput(1.0);
     this.wheelController.setMinDoneCycles(3);
-    this.target = this.shooter.CURRENT_SHOOTING_SPEED;
+    this.target = this.shooter.getCurrentShootingSpeed();
   }
 
   // Called just before this Command runs the first time
@@ -46,9 +47,9 @@ public class RunFlyWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    double shooterSpeed = this.wheelController
+    double calculatedShooterIncrement = this.wheelController
         .calcPID(this.shooter.getShooterRPM());
-
+    shooterSpeed += calculatedShooterIncrement;
     this.shooter.setFlyWheelMotorVal(shooterSpeed);
   }